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    RotTableDrive: Target position of rotary table not reached (InPos error)

    Symptoms

    Although the rotary table with the object NexeedRotTableDrive reaches the target nest position a position error occurs:
    SteffenR-_0-1623746162826.png

    When we increased the settling time parameter of the object the error occured less and less:
    SteffenR-_2-1623746536694.png

    But due to a critical cycle time this was no solution.

     

    Diagnosis

    The customer has ordered our coaching support so we were able to check the problem in detail.

    The position range in the object was ok and had only a little effect:
    SteffenR-_1-1623746435530.png

    The same applies for the standstill window in the IndraDrive:
    SteffenR-_3-1623746709063.png

     

    So finally we started a scope measurement and then it was quite obviously:
    SteffenR-_7-1623747698158.png

     

    Solution

    The IndraDrive had to be optimized with IndraWorks. In this case especially the jerk settings were bad.

    Now everything runs fine without settling time.

    The condition for "in position" of NexeedRotTableDrive V2.3.6.0:

    _modResult := MOD(_axisPos, _nestDistance);
    OutImm.InPos :=
            
    ( ( _modResult                      <  _parCfg.InPosRange ) OR
               ( ABS(_modResult - _nestDistance) <= _parCfg.InPosRange )    ) AND
             (   _axis.OutImm.AxisInReference                               ) AND
             (   _axis.OutImm.StandStill                                    );

    Version history
    Revision #:
    4 of 4
    Last update:
    3 weeks ago
    Updated by:
     
    Contributors
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